Vehicular vision system with dual processor control

ABSTRACT

A vehicular vision system includes a forward viewing camera at a windshield of a vehicle and a plurality of color cameras, and includes a display device operable to display video images derived from image data captured by the color cameras. A processing unit includes a first processing chip that has an image processor for machine-vision processing of captured image data, and a second processing chip that receives vehicle data and receives image data captured by the color cameras. The first processing chip machine-vision processes image data captured by the cameras for object detection and classification of objects. The first processing chip controls operating parameters of the color cameras to enhance object detection based on machine-vision processing by the first processing chip of image data captured by the color cameras. The second processing chip controls operating parameters of the color cameras for display at the display device of video images.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/283,927, filed Feb. 25, 2019, now U.S. Pat. No. 10,992,908,which is a continuation of U.S. patent application Ser. No. 15/613,376,filed Jun. 5, 2017, now U.S. Pat. No. 10,218,940, which is acontinuation of U.S. patent application Ser. No. 14/255,122, filed Apr.17, 2014, now U.S. Pat. No. 9,674,490, which claims the filing benefitsof U.S. provisional application Ser. No. 61/813,361, filed Apr. 18,2013, which is hereby incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras (preferably one or more CMOScameras) to capture image data representative of images exterior of thevehicle, and provides the communication/data signals, including cameradata or captured image data, that may be displayed at a display screenthat is viewable by the driver of the vehicle, such as when the driveris backing up the vehicle, and that may be processed and, responsive tosuch image processing, the system may detect an object at or near thevehicle and in the path of travel of the vehicle, such as when thevehicle is backing up. The vision system may be operable to display asurround view or bird's eye view of the environment at or around or atleast partially surrounding the subject or equipped vehicle, and thedisplayed image may include a displayed image representation of thesubject vehicle. The present invention provides a cost effectivecombined surround view with an EYEQ3 architecture. The system mayinclude a time multiplexed camera control.

The vision system of the present invention may provide a dynamicallyadjustable camera orientation. With such dynamically adjustable cameraorientation (such as via one or more stepper motors at one or more ofthe exterior viewing cameras), the system may capture image datarepresentative of the ground area immediately adjacent the portion ofthe vehicle at which the camera or cameras is/are disposed for use in asurround view display of the vehicle (such as during reverse travel ofthe vehicle or when the vehicle is traveling at a slow speed), and thesystem may capture image data representative of regions further awayfrom the vehicle for use in, for example, a collision avoidance systemor the like), such as when the vehicle is traveling at or above athreshold speed level. The system may adjust or control the fields ofview of the cameras responsive to at least one of (i) actuation of auser input by a driver of the vehicle and (ii) a speed input indicativeof the traveling speed of the vehicle.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system thatincorporates cameras in accordance with the present invention;

FIG. 2 is a schematic of a vision system using an image processor andtwo microcontrollers;

FIG. 3 is a schematic of a cost effective combined surround view withimage processing architecture in accordance with the present invention;

FIG. 4 is a schematic of a time multiplexed camera control in accordancewith the present invention; and

FIG. 5 is a schematic of a dynamically adjustable camera orientation inaccordance with the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes an imageprocessor or image processing system that is operable to receive imagedata from one or more cameras and provide an output to a display devicefor displaying images representative of the captured image data.Optionally, the vision system may provide a top down or bird's eye orsurround view display and may provide a displayed image that isrepresentative of the subject vehicle, and optionally with the displayedimage being customized to at least partially correspond to the actualsubject vehicle.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 b at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1 ). The vision system 12 includes a control or electroniccontrol unit (ECU) or processor 18 that is operable to process imagedata captured by the cameras and may provide displayed images at adisplay device 16 for viewing by the driver of the vehicle (althoughshown in FIG. 1 as being part of or incorporated in or at an interiorrearview mirror assembly 20 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle). The datatransfer or signal communication from the camera to the ECU may compriseany suitable data or communication link, such as a vehicle network busor the like of the equipped vehicle.

The present invention provides a cost effective combined surround viewwith EYEQ3 architecture. Optionally, the vision system of the presentinvention may provide time multiplexed camera control and/or dynamicallyadjustable camera orientation.

FIG. 2 shows a windshield camera unit of a surround view system, wherethe windshield unit has a forward facing imager (FFI) and an EYEQ3 imageprocessor, along with micro controller for vehicle control algorithms(micro1). As also shown in FIG. 2 , the surround view system has a fieldprogrammable gate array (FPGA), a digital signal processor (DSP) andmicrocontroller for vehicle control algorithms.

As shown in FIG. 3 , the present invention provides an integrated costeffective combined surround view and EYEQ3 architecture with a FFI (thatmay view through the windshield of the vehicle) and surround viewcameras (disposed at respective front, rear and side portions of thevehicle) connected to a central processing unit that utilize the EYEQ3image processor's object detection and classification capabilities forall of the cameras. This integrated platform could be used for followingapplications that needs simultaneous information fromdifferent/combination of cameras, along with applications that need onlya forward facing imager (FFI), such as, for example, a lane departurewarning (LDW) application, a lane keeping assist (LKA) application, aforward collision warning (FCW) application, a traffic sign recognition(TSR) application, an adaptive cruise control (ACC) application, anintelligent headlamp control (IHC) application and/or a collisionmitigation by brake (CMB) application and/or the like.

FFI Front Side Rear (MV) (SV) (SV) (SV) (machine (surround (surround(surround Feature vision) vision) vision) vision) Blind Spot detection:x x Prevent accidents during lane change maneuvers. Onramp assist:Predict x x x x whether car can accelerate enough to merge with existingtraffic before end of onramp. Low Speed CMB/ x x pedestrians: Widerfield of view to detect pedestrians that are relevant for impact whiledriving at very low speeds (1-2 m/s). Low Speed CMB/bicycles: x x Widerfield of view to detect crossing bicycles that are relevant for impactwhile driving at low speeds. Example: Vehicle speed 10 m/s, detectingbicycle traveling 10 m/s at 45 degree angle. Door opening protection: xx Prevent door opening when an obstacle is in collision path. Preventrunning red lights. x Alert, possibly braking. Alert go when trafficlight x x change to green. Adaptive Cruise Control x x (ACC) automaticgo in stop and go ACC (in city). Traffic Jam assist - Lateral x x x xand longitudinal control in traffic jam and/or lane splitting scenarios(low speed, controlled access road). Enhanced Automatic x x EmergencyBraking (AEB) based on rear traffic: for example, err on side ofnot-braking or delayed braking if rear traffic is present. Better lanedetection at x x low sun; improved availability of lane information e.g.for Lane Keep Assist (LKA) and Lane Departure Warning (LDW). Fullautonomous driving x x x x including: autonomous lane change to overtakeslower cars; construction area driving; lane merges. Autonomouspull-over x x x x maneuver in case of incapacitated/ unresponsivedriver. Automatic trailer hookup x (guides car to trailer). Trailerbackup x (automatically steer car based on driver selected trajectory).Automatic parking x x x x (parallel, perpendicular) with driver incontrol of longitudinal movement. Autonomous/remote x x x x controlledparking (parallel, perpendicular). Traffic Sign Recognition x (TSR)extension to height limitation signs. Parking path height x xdetection - based on identified need to prevent car from running intolow-hanging objects during automatic (remote controlled) parking. AEBduring backup x maneuver. Traffic Sign Recognition x (TSR) to set ACCspeed, speed limiter. Child-presence detection: x x x Warn if child ispresent in proximity of vehicle, even if not in path and not moving.Ball detection. x x Pedestrian impact x x detection to activate activepedpro system (open: use camera to replace existing sensor or inaddition to another impact sensor). Road friction estimation x (snow,gravel, ice, ...) to adjust AEB thresholds and/ or curve speed warning.Pothole depth and speed x bump height estimation for active suspensioncontrol. Read license plate of x x x preceding/following vehicle, e.g.for amber alert notifications. Curb detection/warning if x x x curb istoo high to drive onto. Prevent damage to rims. Apply 3D information toparking situations. Perspective correction x x x for more accuratebird's eye view display (more realistic image). ACC: Don't accelerate xx X while being overtaken. Lighting control: Adjust x x X lightingdecision based on knowledge or other car overtaking of driving parallel.

The time multiplexed camera control aspect of the present invention isshown in FIG. 4 , which shows the central processing unit architecturewhere the EYEQ3 processor is used as an object detection andclassification platform for all of the vehicle vision system cameras.The EYEQ3 processor may be fed with a FFI video stream to one inputchannel, while the right and left combined video stream is fed to asecond input channel and the front and rear video stream is fed into athird input channel. The system controller or system on a chip or SOC(an FPGA with micro controller core(s) on a single chip) acts as themaster controller of the camera control (gain and exposure). The SOCwill decide on when to give control of the cameras to the EYEQ3processor or chip and when it needs to control the cameras for featuresthat may need to be displayed on the head display unit. The cameracontrol may be time multiplexed with the EYEQ3 processor and algorithmsrunning in the SOC, such as applications that use the head unit todisplay images/video stream and/or that need object detectionsimultaneously from the EYEQ3 processor or chip.

The dynamically adjustable camera orientation aspect of the presentinvention is shown in FIG. 5 , where the camera mountingposition/orientation (especially for the side cameras) is very importantto get better information on the surrounding area sideward and/orrearward of the vehicle, especially for the applications such asautonomous driving, lane change assist and traffic jam assist, blindspot detection and/or the like. The side cameras may also be used forthe surround view system (360 degree view), which needs the cameras tobe mounted pointing downward so as to capture image data representativeof the ground area sideward of the vehicle.

With the proposed stepper motor controlled (via a microprocessor)dynamic camera mount position/orientation (and thus the external fieldof view of the camera) adjustment mechanism (shown in FIG. 5 ), thecamera position/orientation may be dynamically adjusted by the centralprocessing unit, depending on the application need (such as a predefinedset of positions and not any random positions, important for the cameracalibration). Although shown as one camera in FIG. 5 , one or more orall of the cameras at the front, rear and sides of the vehicle (for thesurround view system) may have a respective stepper motor and mountconfiguration disposed thereat or integrated therein, to provide thedynamic adjustment of each of the surround view cameras.

The stepper motors are operable (via microprocessor control andresponsive to at least one of a user input and a speed input indicativeof the forward speed of travel of the vehicle) to adjust the verticalfield of view of the respective camera or cameras. Thus, when thevehicle is traveling rearward or is traveling forward and at a speedbelow a threshold level, the stepper motors may adjust the sidewardviewing cameras and/or the forward viewing and/or rearward viewingcameras to be directed generally downward so as to have their fields ofview encompass a ground area immediately adjacent the portions of thevehicle at which the cameras are disposed. When the vehicle is travelingforward and at a speed at or above a threshold level, the stepper motorsmay adjust the fields of view of the cameras upward so as to direct thefields of view to encompass an area or region further from the portionsof the vehicle at which the cameras are disposed. The system thus maycapture images for use in a surround vision display when the vehicle istraveling in reverse or at a slow forward speed, and may capture imagesfor use in a collision avoidance system when the vehicle is traveling ata greater speed in a forward direction.

Optionally, the system may include a stepper motor that may be used toadjust the horizontal fields of view of the cameras. Optionally, a pairof stepper motors may be used to adjust the field of view of the cameraor cameras along orthogonal axes (such as horizontal and vertical orsuch as any other generally orthogonal axes), whereby the pair ofstepper motors may be operable to adjust the fields of view of thecameras to encompass a desired region during various operatingconditions of the vehicle (such as during reverse travel and/or duringslow forward travel and/or during faster forward travel of the vehicle).The vision system thus may automatically and dynamically adjust thefields of view of the cameras or imagers responsive to one or moreinputs (such as a user input that is accessible by and actuatable by thedriver of the vehicle and/or such as a speed input indicative of a speedof travel of the vehicle and/or such as a directional input indicativeof a travel direction of the vehicle), such that the cameras captureimage data representative of a desired or appropriate region at or nearor outward from the front, rear and/or side portions of the vehicle,depending on the particular driving condition that the vehicle isundergoing at that time.

For a surround vision system that is typically used by the driver duringlow speed maneuvering, such as when parking the vehicle or backing upthe vehicle, it is desirable that the fields of view of the camerasinclude the ground area immediately adjacent the vehicle. For example,for a side mounted camera (such as at an exterior rearview mirror of thevehicle), when used for surround vision functionality, it is desirablethat the fields of view of the side cameras encompass the ground areaimmediately adjacent the respective side of the vehicle that theexterior mirror mounted camera is located. Likewise, for front and arear mounted cameras, when used for surround vision functionality, it isdesirable that their respective fields of view encompass the ground areaimmediately in front of or behind the equipped vehicle. However, whenthe vehicle is traveling at speeds along a road, such as on a highway orthe like, it is desirable to have the fields of views of such camerasencompass areas or regions away from the ground area immediatelyadjacent the vehicle forward, such as rearward of the vehicle (for arear mounted camera) or forward of the vehicle (for a front mountedcamera) or sideward of the vehicle (for side mounted cameras) to detectvehicles and objects at greater distances from the vehicle andapproaching the vehicle. In such situations, image data captured by thecameras may be processed by an image processor for use in a collisionavoidance system or traffic sign detection system or other driverassistance systems that utilize image data representative of scenesoccurring at greater distances from the current location of the vehicle.

Thus, when not being used for surround vision purposes, it is desirablethat the aim of the respective cameras move from being generallydownwardly to be directed less downwardly and more outwardly away fromthe side/front/rear of the vehicle at which the camera is mounted. Suchan adjustment is achieved via the stepper motor and system of thepresent invention. This adjustment may be done manually by the driver(such as via the driver actuating a user input or toggle that adjuststhe orientation of one or more of the cameras) or may be automaticallyperformed based on or responsive to the likes of the speed of thevehicle being at or greater than a threshold level, such as greater thanabout five miles per hour, or greater than about ten mph or greater thanabout fifteen mph or any other threshold level, depending on theparticular application of the system and cameras. Optionally, the degreeof outward or upward adjustment of the cameras' fields of views mayincrease as the vehicle speed increases. For example, the camera may beadjusted a first amount or pivoted or angled or raised a first angleresponsive to the vehicle reaching a first threshold speed (such as, forexample, about five mph or thereabouts) and then may be adjusted asecond amount or pivoted or angled or raised a second angle responsiveto the vehicle reaching a second threshold speed (such as, for example,about fifteen mph or twenty-five mph or thereabouts). The presentinvention thus may utilize cameras with a wide or lateral field of viewand a narrower or less high field of view, as the vertical range of thefield of view may be adjusted via operation of the vision system andstepper motor system of the present invention.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver's awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, a two dimensional array of a plurality ofphotosensor elements arranged in at least 640 columns and 480 rows (atleast a 640×480 imaging array, such as a megapixel imaging array or thelike), with a respective lens focusing images onto respective portionsof the array. The photosensor array may comprise a plurality ofphotosensor elements arranged in a photosensor array having rows andcolumns. Preferably, the imaging array has at least 300,000 photosensorelements or pixels, more preferably at least 500,000 photosensorelements or pixels and more preferably at least 1 million photosensorelements or pixels. The imaging array may capture color image data, suchas via spectral filtering at the array, such as via an RGB (red, greenand blue) filter or via a red/red complement filter or such as via anRCC (red, clear, clear) filter or the like. The logic and controlcircuit of the imaging sensor may function in any known manner, and theimage processing and algorithmic processing may comprise any suitablemeans for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. 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No. 61/901,127,filed Nov. 7, 2013; Ser. No. 61/895,610, filed Oct. 25, 2013; Ser. No.61/895,609, filed Oct. 25, 2013; Ser. No. 61/879,837, filed Sep. 19,2013; Ser. No. 61/879,835, filed Sep. 19, 2013; Ser. No. 61/878,877,filed Sep. 17, 2013; Ser. No. 61/875,351, filed Sep. 9, 2013; Ser. No.61/869,195, filed. Aug. 23, 2013; Ser. No. 61/864,835, filed Aug. 12,2013; Ser. No. 61/864,836, filed Aug. 12, 2013; Ser. No. 61/864,837,filed Aug. 12, 2013; Ser. No. 61/864,838, filed Aug. 12, 2013; Ser. No.61/856,843, filed Jul. 22, 2013, Ser. No. 61/845,061, filed Jul. 11,2013; Ser. No. 61/844,630, filed Jul. 10, 2013; Ser. No. 61/844,173,filed Jul. 9, 2013; Ser. No. 61/844,171, filed Jul. 9, 2013; Ser. No.61/842,644, filed Jul. 3, 2013; Ser. No. 61/840,542, filed Jun. 28,2013; Ser. No. 61/838,619, filed Jun. 24, 2013; Ser. No. 61/838,621,filed Jun. 24, 2013; Ser. No. 61/837,955, filed Jun. 21, 2013; Ser. No.61/836,900, filed Jun. 19, 2013; Ser. No. 61/836,380, filed Jun. 18,2013; Ser. No. 61/833,080, filed Jun. 10, 2013; Ser. No. 61/830,375,filed Jun. 3, 2013; Ser. No. 61/830,377, filed Jun. 3, 2013; Ser. No.61/825,752, filed May 21, 2013; Ser. No. 61/825,753, filed May 21, 2013;Ser. No. 61/823,648, filed May 15, 2013; Ser. No. 61/823,644, filed May15, 2013; Ser. No. 61/821,922, filed May 10, 2013; Ser. No. 61/819,835,filed May 6, 2013; Ser. No. 61/819,033, filed May 3, 2013; Ser. No.61/816,956, filed Apr. 29, 2013; Ser. No. 61/815,044, filed Apr. 23,2013; and/or Ser. No. 61/814,533, filed Apr. 22, 2013, which are allhereby incorporated herein by reference in their entireties. The systemmay communicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in InternationalPublication Nos. WO 2010/144900; WO 2013/043661 and/or WO 2013/081985,and/or U.S. patent application Ser. No. 13/202,005, filed Aug. 17, 2011,now U.S. Pat. No. 9,126,525, which are hereby incorporated herein byreference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and 6,824,281, and/or International Publication Nos. WO2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. Pat.Publication No. US 2010-0020170, and/or U.S. patent application Ser. No.13/534,657, filed Jun. 27, 2012, and published Jan. 3, 2013 as U.S.Publication No. US-2013-0002873, which are all hereby incorporatedherein by reference in their entireties. The camera or cameras maycomprise any suitable cameras or imaging sensors or camera modules, andmay utilize aspects of the cameras or sensors described in U.S.Publication No. US-2009-0244361 and/or U.S. patent application Ser. No.13/260,400, filed Sep. 26, 2011, now U.S. Pat. No. 8,542,451, and/orU.S. Pat. Nos. 7,965,336 and/or 7,480,149, which are hereby incorporatedherein by reference in their entireties. The imaging array sensor maycomprise any suitable sensor, and may utilize various imaging sensors orimaging array sensors or cameras or the like, such as a CMOS imagingarray sensor, a CCD sensor or other sensors or the like, such as thetypes described in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962;5,715,093; 5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719;6,201,642; 6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435;6,831,261; 6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149;7,038,577; 7,004,606; 7,720,580 and/or 7,965,336, and/or InternationalPublication Nos. WO 2009/036176 and/or WO 2009/046268, which are allhereby incorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,881,496; 7,720,580; 7,038,577;5,929,786 and/or 5,786,772, and/or U.S. provisional applications, Ser.No. 60/628,709, filed Nov. 17, 2004; Ser. No. 60/614,644, filed Sep. 30,2004; Ser. No. 60/618,686, filed Oct. 14, 2004; Ser. No. 60/638,687,filed Dec. 23, 2004, which are hereby incorporated herein by referencein their entireties, a video device for internal cabin surveillanceand/or video telephone function, such as disclosed in U.S. Pat. Nos.5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties, a traffic sign recognition system, asystem for determining a distance to a leading or trailing vehicle orobject, such as a system utilizing the principles disclosed in U.S. Pat.Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. Publication No. US-2006-0061008 and/orU.S. patent application Ser. No. 12/578,732, filed Oct. 14, 2009, nowU.S. Pat. No. 9,487,144, which are hereby incorporated herein byreference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. Publication No.US-2006-0061008, which are all hereby incorporated herein by referencein their entireties. Optionally, the video mirror display screen ordevice may be operable to display images captured by a rearward viewingcamera of the vehicle during a reversing maneuver of the vehicle (suchas responsive to the vehicle gear actuator being placed in a reversegear position or the like) to assist the driver in backing up thevehicle, and optionally may be operable to display the compass headingor directional heading character or icon when the vehicle is notundertaking a reversing maneuver, such as when the vehicle is beingdriven in a forward direction along a road (such as by utilizing aspectsof the display system described in International Publication No. WO2012/051500, which is hereby incorporated herein by reference in itsentirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in International Publication Nos. WO 2010/099416; WO2011/028686; WO 2012/075250; WO 2013/019795: WO 2012/075250; WO2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011,now U.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. Publication Nos. US-2006-0061008 and/orUS-2006-0050018, which are all hereby incorporated herein by referencein their entireties. The display is viewable through the reflectiveelement when the display is activated to display information. Thedisplay element may be any type of display element, such as a vacuumfluorescent (VF) display element, a light emitting diode (LED) displayelement, such as an organic light emitting diode (OLED) or an inorganiclight emitting diode, an electroluminescent (EL) display element, aliquid crystal display (LCD) element, a video screen display element orbacklit thin film transistor (TFT) display element or the like, and maybe operable to display various information (as discrete characters,icons or the like, or in a multi-pixel manner) to the driver of thevehicle, such as passenger side inflatable restraint (PSIR) information,tire pressure status, and/or the like. The mirror assembly and/ordisplay may utilize aspects described in U.S. Pat. Nos. 7,184,190;7,255,451; 7,446,924 and/or 7,338,177, which are all hereby incorporatedherein by reference in their entireties. The thicknesses and materialsof the coatings on the substrates of the reflective element may beselected to provide a desired color or tint to the mirror reflectiveelement, such as a blue colored reflector, such as is known in the artand such as described in U.S. Pat. Nos. 5,910,854; 6,420,036 and/or7,274,501, which are hereby incorporated herein by reference in theirentireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and/or 6,124,886, and/or U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

The invention claimed is:
 1. A vehicular vision system comprising: aforward viewing camera disposed at an in-cabin side of a windshield of avehicle equipped with said vehicular vision system, said forward viewingcamera having a field of view through the windshield and at leastforward of the equipped vehicle; a plurality of color cameras disposedat the equipped vehicle, said plurality of color cameras comprising (i)a front color camera disposed at a front portion of the equipped vehicleand having a field of view at least forward of the equipped vehicle,(ii) a driver side color camera disposed at a driver side portion of theequipped vehicle and having a field of view at least sideward of theequipped vehicle, (iii) a passenger side color camera disposed at apassenger side portion of the equipped vehicle and having a field ofview at least sideward of the equipped vehicle, and (iv) a rear colorcamera disposed at a rear portion of the equipped vehicle and having afield of view at least rearward of the equipped vehicle; a displaydevice disposed in a cabin of the equipped vehicle and operable todisplay video images derived from image data captured by said pluralityof color cameras; a processing unit comprising a first processing chipand a second processing chip; wherein said first processing chipcomprises an image processor for machine-vision processing of image datacaptured by said forward viewing camera and said plurality of colorcameras; wherein said first processing chip receives image data capturedby said forward viewing camera and image data captured by said pluralityof color cameras; wherein said second processing chip receives vehicledata via a vehicular communication network of the equipped vehicle andreceives image data captured by said plurality of color cameras; whereinsaid first processing chip controls operating parameters of said forwardviewing camera; wherein said first processing chip machine-visionprocesses image data captured by said forward viewing camera for objectdetection of objects present in the field of view of said forwardviewing camera; wherein said first processing chip machine-visionprocesses image data captured by said plurality of color cameras forobject detection of objects present in the field of view of at least onecolor camera of said plurality of color cameras; wherein said firstprocessing chip controls operating parameters of said plurality of colorcameras to enhance object detection based on machine-vision processingby said first processing chip of image data captured by said pluralityof color cameras; wherein said second processing chip does not controloperating parameters of said forward viewing camera; wherein said secondprocessing chip controls operating parameters of said plurality of colorcameras for display at said display device of video images derived fromimage data captured by said plurality of color cameras; wherein saidsecond processing chip controls operating parameters of said pluralityof color cameras for machine-vision processing by said first processingchip of the image data captured by said plurality of color cameras; andwherein, via machine-vision processing of image data captured by atleast said forward viewing camera, said vehicular vision system predictswhether the equipped vehicle, when traveling on an onramp, canaccelerate enough to merge with existing traffic before an end of theonramp.
 2. The vehicular vision system of claim 1, wherein first framesof image data are captured with a first set of operating parameters andsecond frames of image data are captured with a second set of operatingparameters that is different than the first set of operating parameters.3. The vehicular vision system of claim 2, wherein the first frames ofcaptured image data alternate with the second frames of captured imagedata.
 4. The vehicular vision system of claim 2, wherein the first setof operating parameters provide enhanced display at said display deviceof video images derived from the first frames of image data captured bysaid plurality of color cameras.
 5. The vehicular vision system of claim2, wherein the second set of operating parameters provide enhancedobject detection based on machine-vision processing by said firstprocessing chip of the second frames of image data captured by saidplurality of color cameras.
 6. The vehicular vision system of claim 1,wherein said first processing chip has three camera input channels, saidthree camera input channels comprising (i) a first channel for receivingimage data captured by said forward viewing camera, (ii) a secondchannel for receiving image data captured by said front color camera andsaid rear color camera, and (iii) a third channel for receiving imagedata captured by said driver side color camera and said passenger sidecolor camera.
 7. The vehicular vision system of claim 1, wherein saidplurality of color cameras comprise fisheye cameras.
 8. The vehicularvision system of claim 1, wherein said plurality of color camerascapture image data at a frame rate of at least 30 frames per second. 9.The vehicular vision system of claim 1, wherein said second processingchip receives the vehicle data via a CAN network of the equippedvehicle.
 10. The vehicular vision system of claim 1, wherein saidplurality of color cameras is part of a multi-camera surround viewsystem of the equipped vehicle, and wherein video images displayed atsaid display device comprise a bird's eye view at least partiallysurrounding the equipped vehicle.
 11. The vehicular vision system ofclaim 1, wherein said forward viewing camera comprises an imager havinga two dimensional array of a plurality of photosensor elements arrangedin at least 640 columns and 480 rows, and wherein each camera of saidplurality of color cameras comprises an imager having a two dimensionalarray of a plurality of photosensor elements arranged in at least 640columns and 480 rows.
 12. The vehicular vision system of claim 11,wherein said two dimensional array comprises at least one millionphotosensor elements.
 13. The vehicular vision system of claim 1,wherein said first processing chip processes image data captured by saidforward viewing camera for at least three selected from the groupconsisting of (i) an adaptive cruise control system of the equippedvehicle, (ii) a traffic jam assist system of the equipped vehicle, (iii)an automatic emergency braking system of the equipped vehicle, (iv) alane keep assist system of the equipped vehicle, (v) a lane departurewarning system of the equipped vehicle, (vi) a traffic sign recognitionsystem of the equipped vehicle and (vii) a pedestrian detection systemof the equipped vehicle.
 14. A vehicular vision system comprising: aforward viewing camera disposed at an in-cabin side of a windshield of avehicle equipped with said vehicular vision system, said forward viewingcamera having a field of view through the windshield and at leastforward of the equipped vehicle; a plurality of color cameras disposedat the equipped vehicle, said plurality of color cameras comprising (i)a front color camera disposed at a front portion of the equipped vehicleand having a field of view at least forward of the equipped vehicle,(ii) a driver side color camera disposed at a driver side portion of theequipped vehicle and having a field of view at least sideward of theequipped vehicle, (iii) a passenger side color camera disposed at apassenger side portion of the equipped vehicle and having a field ofview at least sideward of the equipped vehicle, and (iv) a rear colorcamera disposed at a rear portion of the equipped vehicle and having afield of view at least rearward of the equipped vehicle; a displaydevice disposed in a cabin of the equipped vehicle and operable todisplay video images derived from image data captured by said pluralityof color cameras; a processing unit comprising a first processing chipand a second processing chip; wherein said first processing chipcomprises an image processor for machine-vision processing of image datacaptured by said forward viewing camera and said plurality of colorcameras; wherein said first processing chip receives image data capturedby said forward viewing camera and image data captured by said pluralityof color cameras; wherein said first processing chip has three camerainput channels, said three camera input channels comprising (i) a firstchannel for receiving image data captured by said forward viewingcamera, (ii) a second channel for receiving image data captured by saidfront color camera and said rear color camera, and (iii) a third channelfor receiving image data captured by said driver side color camera andsaid passenger side color camera; wherein said second processing chipreceives vehicle data via a vehicular communication network of theequipped vehicle and receives image data captured by said plurality ofcolor cameras; wherein said first processing chip controls operatingparameters of said forward viewing camera; wherein said first processingchip machine-vision processes image data captured by said forwardviewing camera for object detection of objects present in the field ofview of said forward viewing camera; wherein said first processing chipmachine-vision processes image data captured by said plurality of colorcameras for object detection of objects present in the field of view ofat least one color camera of said plurality of color cameras; whereinsaid first processing chip controls operating parameters of saidplurality of color cameras to enhance object detection based onmachine-vision processing by said first processing chip of image datacaptured by said plurality of color cameras; wherein said secondprocessing chip does not control operating parameters of said forwardviewing camera; wherein said second processing chip controls operatingparameters of said plurality of color cameras when capturing firstframes of image data for display at said display device of video imagesderived from the first frames of image data captured by said pluralityof color cameras; wherein the first frames of image data are capturedwith a first set of operating parameters; wherein said second processingchip controls operating parameters of said plurality of color cameraswhen capturing second frames of image data for machine-vision processingby said first processing chip of the second frames of image datacaptured by said plurality of color cameras; wherein the second framesof image data are captured with a second set of operating parametersthat is different than the first set of operating parameters; andwherein, via machine-vision processing of image data captured by atleast said forward viewing camera, said vehicular vision system predictswhether the equipped vehicle, when traveling on an onramp, canaccelerate enough to merge with existing traffic before an end of theonramp.
 15. The vehicular vision system of claim 14, wherein the firstframes of captured image data alternate with the second frames ofcaptured image data.
 16. The vehicular vision system of claim 14,wherein said plurality of color cameras captures image data at a framerate of at least 30 frames per second.
 17. The vehicular vision systemof claim 14, wherein said forward viewing camera comprises an imagerhaving a two dimensional array of a plurality of photosensor elementsarranged in at least 640 columns and 480 rows, and wherein each cameraof said plurality of color cameras comprises an imager having a twodimensional array of a plurality of photosensor elements arranged in atleast 640 columns and 480 rows, and wherein said two dimensional arrayseach comprise at least one million photosensor elements.
 18. Thevehicular vision system of claim 17, wherein said first processing chipprocesses image data captured by said forward viewing camera for atleast three selected from the group consisting of (i) an adaptive cruisecontrol system of the equipped vehicle, (ii) a traffic jam assist systemof the equipped vehicle, (iii) an automatic emergency braking system ofthe equipped vehicle, (iv) a lane keep assist system of the equippedvehicle, (v) a lane departure warning system of the equipped vehicle,(vi) a traffic sign recognition system of the equipped vehicle and (vii)a pedestrian detection system of the equipped vehicle.
 19. A vehicularvision system comprising: a forward viewing camera disposed at anin-cabin side of a windshield of a vehicle equipped with said vehicularvision system, said forward viewing camera having a field of viewthrough the windshield and at least forward of the equipped vehicle; aplurality of color cameras disposed at the equipped vehicle, saidplurality of color cameras comprising (i) a front color camera disposedat a front portion of the equipped vehicle and having a field of view atleast forward of the equipped vehicle, (ii) a driver side color cameradisposed at a driver side portion of the equipped vehicle and having afield of view at least sideward of the equipped vehicle, (iii) apassenger side color camera disposed at a passenger side portion of theequipped vehicle and having a field of view at least sideward of theequipped vehicle, and (iv) a rear color camera disposed at a rearportion of the equipped vehicle and having a field of view at leastrearward of the equipped vehicle; a display device disposed in a cabinof the equipped vehicle and operable to display video images derivedfrom image data captured by said plurality of color cameras; whereinsaid plurality of color cameras are part of a multi-camera surround viewsystem of the equipped vehicle, and wherein video images derived fromthe image data captured by said plurality of color cameras and displayedat said display device comprise a bird's eye view at least partiallysurrounding the equipped vehicle; a processing unit comprising a firstprocessing chip and a second processing chip; wherein said firstprocessing chip comprises an image processor for machine-visionprocessing of image data captured by said forward viewing camera andsaid plurality of color cameras; wherein said first processing chipreceives image data captured by said forward viewing camera and imagedata captured by said plurality of color cameras; wherein said secondprocessing chip receives vehicle data via a vehicular communicationnetwork of the equipped vehicle and receives image data captured by saidplurality of color cameras; wherein said first processing chip controlsoperating parameters of said forward viewing camera; wherein said firstprocessing chip machine-vision processes image data captured by saidforward viewing camera for object detection of objects present in thefield of view of said forward viewing camera; wherein said firstprocessing chip machine-vision processes image data captured by saidplurality of color cameras for object detection of objects present inthe field of view of at least one color camera of said plurality ofcolor cameras; wherein said first processing chip controls operatingparameters of said plurality of color cameras to enhance objectdetection based on machine-vision processing by said first processingchip of image data captured by said plurality of color cameras; whereinsaid second processing chip controls operating parameters of saidplurality of color cameras for display at said display device of videoimages derived from image data captured by said plurality of colorcameras; wherein said second processing chip controls operatingparameters of said plurality of color cameras for machine-visionprocessing by said first processing chip of the image data captured bysaid plurality of color cameras; wherein first frames of image data arecaptured with a first set of operating parameters and second frames ofimage data are captured with a second set of operating parameters thatis different than the first set of operating parameters; and wherein,via machine-vision processing of image data captured by at least saidforward viewing camera, said vehicular vision system predicts whetherthe equipped vehicle, when traveling on an onramp, can accelerate enoughto merge with existing traffic before an end of the onramp.
 20. Thevehicular vision system of claim 19, wherein the first frames ofcaptured image data alternate with the second frames of captured imagedata.
 21. The vehicular vision system of claim 19, wherein the first setof operating parameters provide enhanced display at said display deviceof video images derived from the first frames of image data captured bysaid plurality of color cameras.
 22. The vehicular vision system ofclaim 19, wherein the second set of operating parameters provideenhanced object detection based on machine-vision processing by saidfirst processing chip of the second frames of image data captured bysaid plurality of color cameras.
 23. The vehicular vision system ofclaim 19, wherein said first processing chip has three camera inputchannels, said three camera input channels comprising (i) a firstchannel for receiving image data captured by said forward viewingcamera, (ii) a second channel for receiving image data captured by saidfront color camera and said rear color camera, and (iii) a third channelfor receiving image data captured by said driver side color camera andsaid passenger side color camera.